US 12,245,835 B2
Real-time adjustment of haptic feedback in surgical robots
Jeffrey Roh, Seattle, WA (US); Justin Esterberg, Mesa, AZ (US); John Cronin, Jericho, VT (US); Seth Cronin, Essex Junction, VT (US); and Michael D'Andrea, Burlington, VT (US)
Assigned to IX Innovation LLC, Seattle, WA (US)
Filed by IX Innovation LLC, Seattle, WA (US)
Filed on Oct. 6, 2023, as Appl. No. 18/377,686.
Application 18/377,686 is a continuation of application No. 17/407,538, filed on Aug. 20, 2021, granted, now 11,779,423.
Prior Publication US 2024/0033028 A1, Feb. 1, 2024
Int. Cl. A61B 34/10 (2016.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/76 (2016.02) [A61B 34/10 (2016.02); A61B 34/37 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/742 (2016.02); A61B 2034/744 (2016.02); A61B 2090/364 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method for performing a surgical procedure using a robotic surgical tool, the method comprising:
determining, based on a comparison of one or more intra-operative images of an anatomical feature of a patient with one or more pre-operative images of the anatomical feature, a confidence level that indicates a likelihood that a location of the anatomical feature estimated using the one or more intra-operative images is accurate;
setting a boundary around the anatomical feature based on the confidence level;
determining, during the surgical procedure, a current position of the robotic surgical tool relative to at least a portion of the boundary around the anatomical feature; and
generating haptic feedback at a haptic interface of a surgeon operating the robotic surgical tool, the haptic feedback adapted to aid the surgeon in maneuvering the robotic surgical tool around the anatomical feature, wherein at least one parameter of the haptic feedback is determined based on the confidence level and the current position of the robotic surgical tool relative to at least a portion of the boundary around the anatomical feature.